SMACC2
st_navigate_next_waypoint.hpp
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1// Copyright 2021 RobosoftAI Inc.
2//
3// Licensed under the Apache License, Version 2.0 (the "License");
4// you may not use this file except in compliance with the License.
5// You may obtain a copy of the License at
6//
7// http://www.apache.org/licenses/LICENSE-2.0
8//
9// Unless required by applicable law or agreed to in writing, software
10// distributed under the License is distributed on an "AS IS" BASIS,
11// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12// See the License for the specific language governing permissions and
13// limitations under the License.
14
15/*****************************************************************************************************************
16 *
17 * Authors: Pablo Inigo Blasco, Brett Aldrich
18 *
19 ******************************************************************************************************************/
20
21#pragma once
22
23#include <smacc2/smacc.hpp>
24
26{
27// STATE DECLARATION
28struct StNavigateNextWaypoint : smacc2::SmaccState<StNavigateNextWaypoint, MsDanceBotRunMode>
29{
30 using SmaccState::SmaccState;
31
32 // TRANSITION TABLE
33 typedef mpl::list<
34
35 Transition<EvCbSuccess<CbNavigateBackwards, OrNavigation>, StRotateDegrees3>,
36 Transition<EvCbFailure<CbNavigateBackwards, OrNavigation>, StNavigateUndoMotion2>
37
39
40 // STATE FUNCTIONS
41 static void staticConfigure()
42 {
43 configure_orthogonal<OrNavigation, CbNavigateNextWaypoint>();
44 configure_orthogonal<OrNavigation, CbResumeSlam>();
45 configure_orthogonal<OrLED, CbLEDOff>();
46 configure_orthogonal<OrObstaclePerception, CbLidarSensor>();
47 }
48};
49} // namespace sm_dance_bot_warehouse_2
mpl::list< Transition< EvCbSuccess< CbNavigateBackwards, OrNavigation >, StRotateDegrees3 >, Transition< EvCbFailure< CbNavigateBackwards, OrNavigation >, StNavigateUndoMotion2 > > reactions